Control Mode - Siemens SINAMICS S120 Getting Started

Function module
Extended stop and retract (r0108.9)
Cogging torque compensation (r0108.22) In the parameter view, activates all parameters of the "Cogging torque com-
Precondition
● The drive axis is OFFLINE.
Note
The basic parameterization for the selected drive axis can only be carried out OFFLINE.
Activating a function module
1. To activate a function module, click on the required function module (e.g. technology
controller).
Repeat this step for all additional function modules that you wish to activate.
Note
When the "basic positioner" function module is activated, then the "position control"
function module is automatically activated as well.
2. Save the project to back up the settings.
6.3.1.3

Control mode

☐
Speed control (with and without encoder) and torque control are available for SERVO drives.
Speed control
The speed control of a variable-speed drive has the task of following the speed according to
a specified setpoint (reference variable) as precisely as possible and without overshoot.
Torque control
The torque control has the task of ensuring that the torque actual value tracks the torque
setpoint as precisely as possible, i.e. without any delay and with low associated ripple. For
this control type, the torque is the command variable.
Getting Started, 12/2018, 6SL3097-5AG30-0BP0
Explanation
In the "Setpoint channel" area, activates the "Extended stop and retract" func-
tion.
pensation" parameter group. Cogging torque compensation can only be pa-
rameterized via the parameter view.
Note:
The activation of this function module leads to a significant increase in the
required computing time per drive axis.
The operation of 6 servo axes on one Control Unit can no longer be guaran-
teed in all constellations and should be reduced to 5 axes.
"Drive axis > Parameters > Basic parameterization > Control type"
Performing basic parameterization
6.3 Drive axes
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